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<h1>ROS Interfaces</h1>

<p>There are several ROS interfaces available for CoppeliaSim. Each one offers a specific behaviour, feature, or a way to operate:</p>

<li><a href="rosInterf.htm">The ROS Interface</a>: the ROS Interface duplicates the C++ ROS API with a good fidelity. This makes it the ideal choice for very flexible communication via ROS, but might require a little bit more insight on the various messages and the way ROS operates.</li>
<li><a href="ros2Interface.htm">The ROS 2 Interface</a>: the ROS 2 Interface duplicates the C++ ROS 2 API with a good fidelity. This makes it the ideal choice for very flexible communication via ROS 2, but might require a little bit more insight on the various messages and the way ROS 2 operates.</li>
<li><strong>ROS interfaces developed by others</strong>: those are not directly supported by us. For instance, the <a href="http://wiki.ros.org/vrep_ros_bridge">CoppeliaSim ROS bridge</a>.</li>


<p>All ROS interfaces can normally operate side-by-side, but we highly recommend you to first try your hands on the <a href="rosInterf.htm">ROS Interface</a>, since this is the most flexible and natural approach. The packages to the first two above listed ROS interfaces are located <a href="https://github.com/CoppeliaRobotics/simExtROSInterface" target="_blank">here</a> and <a href="https://github.com/CoppeliaRobotics/sim_plugin_skeleton" target="_blank">here</a>. Use the <a href="http://catkin-tools.readthedocs.io/en/latest/">catkin tools</a> to build those packages, otherwise you might run into difficulties.</p>

<p>Also have a look at the <a href="rosTutorial.htm">ROS tutorial</a> and the <a href="externalControllerTutorial.htm">external controller tutorial</a>.</p>


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<h3 class=recommendedTopics>Recommended topics</h3>
<li><a href="rosTutorial.htm">ROS tutorial</a></li>
<li><a href="ros2Tutorial.htm">ROS 2 tutorial</a></li>
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